GAMBRILLS, Md. (WJZ) — In Anne Arundel County, a shooting is startling residents. A road rage incident ends in gunfire. And Maryland State Police say the gunman is a police officer from New Jersey.

Rochelle Ritchie explains what led to the shooting.

That officer now sits in jail on a $1 million bond.

Joseph Walker, 40, is usually the one to put criminals behind bars. But now he sits in jail, charged with second-degree murder and manslaughter, after police say he shot and killed 36-year-old Joseph Harvey of Millersville.

“Certainly, it appears this is some sort of aggressive behavior gone bad,” Elena Russo, Maryland State Police.

Maryland State Police say just after 8:30 p.m. Saturday night the victim, Harvey, merged onto Route 3 northbound when he came into contact with Walker. Both men pulled off to the side of the road.

“Two men were driving in a Honda Accord and they may have ensued in some sort of altercation with Walker, who was driving a Minivan with his wife and three kids in the backseat,” Russo said.

Police say the victim and his passenger got out of the car and began walking towards Walker’s Minivan, who was armed with a gun.

A quick call to report the shooting is made to 911. The victim is taken to the hospital, where he died.

Walker is a sworn officer with the Hudson County Prosecutor’s Office in New Jersey. They released this statement, saying:

“We are aware of the fatal shooting incident involving one of our detectives who was off duty… We will not be making any other comment on this for now.”

Neighbors of the New Jersey cop are left stunned.

“Road rage is something that you don’t want to get into because nothing comes of it. It’s just really hard to believe about Joe,” a man said.

Maryland State Police are now interviewing witnesses who reported the road rage incident prior to the shooting.

“Walker was charged with second-degree murder and manslaughter and now is being held on a $1 million bond,” said Russo.

Maryland State Police believe Walker was driving back from Maryland to New Jersey.

The victim is from Halethorpe. No one else was injured during the shooting.